Design And Realization Of The Quadrotor Based On NI MyRIO

Quadrotor is one kind of unmanned aerial vehicle(UAV). It possess many advantages such as simple structure, high maneuverability, agility and the vertical take-off and landing. Deu to its specific capabilities and broad application value, quadrotor have attracted amount of interest in business company and scientific research. However, quadrotor is an under-actuated system, and its strong coupling and nonlinear characteristic make it hard to control well. Quadrotor has been widely used in aerial photography, real-time monitoring, forest fire prevention, rescue and so on. In this research, a quadrotor is servered as the research platform. The design, manufacture, debugging and realization of a quadrotor was done based on the NI myRIO controller and the virtual instrument technology.Fist of all, based on the analysis of the flight principle of quadrotor, and the knowledge of the needed functions of whole control system, the design was made plan with NI myRIO controller as the core. Both the architecture of NI myRIO and the Lab VIEW development environment were introduced in detail. Meanwhile, the type and revelent parameters of other hardwares used in this thesis, like DC motors, off-the-shelf electronic speed controller, inertial measurement and so on were also introduced. The foundation for later research of this thesis was laid by setting up the quadrotor experimental platform.Secondly, aimed at the problem of access to real-time flying attitude estimation of the quadrotor, knowledge of quaterion and Kalam filter algorithm were introduced. And quaternion-based Kalam filter algorithm was designed in this thesis, then the quaternion-based Kalam fliter algorithm was deduced and its work flow was given. The code realization in LabVIEW was accomplished by using NI myRIO and relevant inertial navigation module, thus the correct attitude angle was resolved, and the real-time attitude curve of posture was shown on PC. The result validate the efficiency of the quaternaion-based Kalam fliter algorithm designed in this thesis.Thirdly, the flight control system was designed. To control the attitude angle that involve pitch angle, roll angle and yaw of the quadrotor, four indepent cascade PID control algorithm was used. Classic PID control algorithm was used to control altitude of the quadrotor. Relevant algorithms of this research were writhen in the LabVIEW software. Simulation experiments was accomplished in LabVIEW based on the mathematical model established before and the control algorithm designed before. And the effectiveness of the desined control algorithms were validated by the simulation result.Finally, the proposed attitude estimation algorithm and the flight control algorithm was programmed and deplyed into the NI myRIO for experimental test and flight validation. By tuning the Control structure and the number of gains, the requirements of stable flying for the quadrotor should perform was realized.